CN113548041A - Parking control method applied to vertical parking space, electronic equipment and vehicle - Google Patents
Parking control method applied to vertical parking space, electronic equipment and vehicle Download PDFInfo
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Abstract
The embodiment of the application discloses a parking control method applied to a vertical parking space, electronic equipment and a vehicle, and is used for reducing the number of times of kneading the garage when the vehicle is transferred to the garage and improving the garage transfer efficiency. The method comprises the following steps: when the target parking space is detected, firstly determining a target circular arc according to the position of the target parking space, the surrounding environment information of the vehicle and the minimum turning radius of the vehicle, determining an initial parking position on the target circular arc according to a first end point of the target circular arc and the current position of the vehicle, and determining an initial parking gesture corresponding to the initial parking position; then, determining a first driving track according to the initial parking position, the initial parking gesture and the current position, and controlling the vehicle to drive to the initial parking position according to the first driving track; and finally, when the vehicle is at the initial parking position, controlling the vehicle to perform garage kneading operation along the target arc so as to park the vehicle into the target parking space. By implementing the method, the parking efficiency can be improved.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a parking control method applied to a vertical parking space, an electronic device, and a vehicle.
Background
With the popularization of the automatic parking function, the acceptance of the automatic parking function for users is higher and higher. In practice, most of the existing automatic parking garages (the gear is switched from a reverse gear to a forward gear or from the forward gear to the reverse gear, and the vehicle sport meter is used for kneading the garages for the first time) have more times, more than three times of the garages are often needed, the use time is long, and the efficiency is low.
Disclosure of Invention
The embodiment of the application provides a parking control method applied to a vertical parking space, electronic equipment and a vehicle, and the parking efficiency can be improved.
The first aspect of the embodiment of the application provides a parking control method applied to a vertical parking space, which comprises the following steps:
when a target parking space is detected, determining a target circular arc according to the position of the target parking space, the surrounding environment information of the vehicle and the minimum turning radius of the vehicle;
determining an initial parking position on the target arc according to the first end point of the target arc and the current position of the vehicle, and determining an initial parking gesture corresponding to the initial parking position; the first end point is an end point far away from the target parking space, and the second end point of the target arc is located at the target parking space;
determining a first driving track according to the initial parking position, the initial parking gesture and the current position, and controlling the vehicle to drive to the initial parking position according to the first driving track;
and when the vehicle is at the initial parking position, controlling the vehicle to perform a garage kneading operation along the target arc so as to park the vehicle into the target parking space.
As an optional implementation manner, in the first aspect of the embodiment of the present application, the determining a target circular arc according to the position of the target parking space, the information about the surrounding environment of the vehicle, and the minimum turning radius of the vehicle includes:
determining a central point according to the position of the target parking space and the surrounding environment information of the vehicle;
determining a target circular arc according to the central point and the minimum turning radius of the vehicle;
the target arc is 1/4 arc, a line connecting a first end point of the arc and the center point is parallel to the horizontal direction, and a line connecting a second end point of the arc and the center point is parallel to the vertical direction.
As an optional implementation manner, in the first aspect of the embodiments of the present application, the determining, on the basis of the first end point of the target arc and the current position of the vehicle, an initial parking position on the target arc includes:
determining a first straight line which passes through a first end point of the target circular arc and is parallel to the parking space line;
acquiring a relative position relation between the current position of the vehicle and the first straight line;
and determining an initial parking position from the target arc according to the relative position relation.
As an alternative implementation, in the first aspect of the embodiment of the present application, the determining a starting parking position from the target arc according to the relative position relationship includes:
if the relative position relationship indicates that the vehicle is located on a first side of the first straight line or on the first straight line, determining that the first end point is an initial parking position; the first side is the side, far away from the target parking space, of the first straight line;
if the relative position relationship indicates that the vehicle is located on the second side of the first straight line, determining a first distance between the first end point and the current position in the vertical direction and a second distance between the first end point and the current position in the horizontal direction, and determining an initial parking position on the target arc according to the first distance and the second distance; and the second side is one side of the first straight line close to the target parking space.
As an alternative implementation manner, in the first aspect of the embodiment of the present application, the direction of the vehicle body of the vehicle indicated by the initial parking gesture corresponding to the initial parking position is parallel to a tangent line of the initial parking position on the target arc.
As an alternative implementation, in the first aspect of the embodiment of the present application, the determining a first travel trajectory according to the initial parking position, the initial parking gesture, and the current position includes:
determining a preset condition according to the relative position relation, wherein the preset condition is related to the minimum turning radius of the vehicle;
determining a first distance between the first end point and the current position in the vertical direction and a second distance in the horizontal direction;
when the first distance and the second distance meet the preset condition, determining a running radius according to the first distance and the second distance;
and planning the first driving track according to the driving radius, the initial parking position, the initial parking gesture and the current position.
As an optional implementation manner, in the first aspect of the embodiment of the present application, if the relative position relationship indicates that the vehicle is on a first side of the first straight line or on the first straight line, the first travel track is composed of a first circular arc and a second circular arc, a radius of the first circular arc is a first travel radius, and a radius of the second circular arc is a second travel radius; wherein the first side is a side of the first straight line away from the target parking space, the second driving radius is k times the first driving radius, and k is a value greater than or equal to 1;
if the relative position relationship indicates that the vehicle is located on a second side of the first straight line, the first travel track is composed of a third arc, and the radius of the third arc is a third travel radius; and the second side is one side of the first straight line close to the target parking space.
As an optional implementation manner, in the first aspect of this embodiment of the present application, the method further includes:
and if the first distance and the second distance do not meet the preset condition, determining that a first driving track does not exist between the initial parking position and the current position, and outputting first prompt information, wherein the first prompt indicates that the vehicle cannot realize one-step parking operation.
A second aspect of embodiments of the present application provides an electronic device, including:
the system comprises a first path planning unit, a second path planning unit and a third path planning unit, wherein the first path planning unit is used for determining a target circular arc according to the position of a target parking space, the surrounding environment information of a vehicle and the minimum turning radius of the vehicle when the target parking space is detected;
the first determining unit is used for determining an initial parking position on the target circular arc according to a first end point of the target circular arc and the current position of the vehicle, and determining an initial parking gesture corresponding to the initial parking position; the first end point is an end point far away from the target parking space, and the second end point of the target arc is located at the target parking space; determining a first driving track according to the initial parking position, the initial parking gesture and the current position;
and the control unit is used for controlling the vehicle to run to the initial parking position according to the first running track, and controlling the vehicle to perform a garage kneading operation along the target arc when the vehicle is at the initial parking position so as to enable the vehicle to park in the target parking space.
A third aspect of embodiments of the present application provides an electronic device, which may include:
a memory storing executable program code;
and a processor coupled to the memory;
the processor calls the executable program code stored in the memory, and when executed by the processor, the executable program code causes the processor to implement the method according to the first aspect of the embodiments of the present application.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, on which executable program code is stored, and when the executable program code is executed by a processor, the method according to the first aspect of embodiments of the present application is implemented.
A fifth aspect of embodiments of the present application discloses a computer program product, which, when run on a computer, causes the computer to perform any one of the methods disclosed in the first aspect of embodiments of the present application.
A sixth aspect of the present embodiment discloses an application publishing platform, configured to publish a computer program product, where when the computer program product runs on a computer, the computer is caused to execute any of the methods disclosed in the first aspect of the present embodiment.
According to the technical scheme, the embodiment of the application has the following advantages:
in the embodiment of the application, when a target parking space is detected, firstly determining a target circular arc according to the position of the target parking space, the ambient environment information of a vehicle and the minimum turning radius of the vehicle, determining an initial parking position on the target circular arc according to a first end point of the target circular arc and the current position of the vehicle, and determining an initial parking gesture corresponding to the initial parking position, wherein the first end point is an end point far away from the target parking space, and the second end point of the target circular arc is located at the target parking space; then, determining a first driving track according to the initial parking position, the initial parking gesture and the current position, and controlling the vehicle to drive to the initial parking position according to the first driving track; and finally, when the vehicle is at the initial parking position, controlling the vehicle to perform garage kneading operation along the target arc so as to park the vehicle into the target parking space. By implementing the method, before the parking operation is executed, the target arc is determined, then the vehicle is controlled to run from the current position to the initial parking position according to the first running track, and the initial parking position is on the target arc, and the second end point of the target arc is on the target parking space, so that the vehicle at the initial parking position can directly control the vehicle to carry out the garage kneading operation along the target arc to park the vehicle in the target parking space, and the garage kneading times are greatly reduced. Further, since the target arc is determined according to the minimum turning radius of the vehicle, the warehousing path when parking is shortest. Therefore, the parking mode is beneficial to improving the parking efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained according to the drawings.
FIG. 1 is a schematic view of a scenario in an embodiment of the present application;
fig. 2A is a schematic flowchart of a parking control method applied to a vertical parking space according to an embodiment of the present application;
FIG. 2B is an illustration of a first included angle disclosed in an embodiment of the present application;
FIG. 2C is a diagrammatic illustration of an initial parking maneuver disclosed in an embodiment of the present application;
fig. 3A is a schematic flowchart of another parking control method applied to a vertical parking space according to an embodiment of the present application
FIG. 3B is a schematic diagram of another scenario disclosed in an embodiment of the present application;
FIG. 3C is a schematic diagram of another scenario disclosed in an embodiment of the present application;
FIG. 3D is a diagrammatic illustration of the determination of an initial parking location as disclosed in an embodiment of the present application;
FIG. 3E is a schematic view of a scene corresponding to FIG. 3D;
FIG. 3F is another illustration of the determination of an initial parking location disclosed in an embodiment of the present application;
FIG. 3G is a schematic view of a scene corresponding to FIG. 3F;
fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure;
fig. 5 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
The embodiment of the application provides a parking control method applied to a vertical parking space, electronic equipment and a vehicle, and is used for reducing the number of times of kneading the garage when the vehicle is transferred to the garage and improving the garage transfer efficiency.
For a person skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. The embodiments in the present application shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic view of a scene disclosed in an embodiment of the present application. As shown in fig. 1, the vehicle 110, the vertical target parking space 120, and the target arc 130 may be included, and when the vehicle 110 detects the target parking space 120, first, the vehicle 110 may determine the target arc 130 according to the position of the target parking space 120, the surrounding environment information of the vehicle, and the minimum turning radius of the vehicle 110, determine an initial parking position on the target arc according to a first end point of the target arc 130 and the current position of the vehicle 110, and determine an initial parking gesture corresponding to the initial parking position. The first end of the target arc 130 is an end far away from the target parking space 120, and the second end of the target arc 130 is located at the target parking space 120.
The vehicle 110 may determine a first driving trajectory according to the initial parking position, the initial parking gesture, and the current position of the vehicle 110, and control the vehicle 110 to drive to the initial parking position according to the first driving trajectory; finally, when the vehicle 110 is in the initial parking position, the vehicle 110 is controlled to perform a garage kneading operation along the target arc 130 so as to park the vehicle 110 in the target parking space 120. Before the parking operation is executed, the control vehicle 110 first determines the target arc 130, and then according to the first driving track, the control vehicle 110 drives from the current position to the initial parking position, because the initial parking position is on the target arc 130, and the second end point of the target arc 130 is on the target parking space 120, the vehicle 110 at the initial parking position can directly control the vehicle to perform a garage kneading operation along the target arc 130, and park in the target parking space, so that the garage kneading frequency is greatly reduced, and the parking efficiency is improved.
Referring to fig. 2A, fig. 2A is a schematic flow chart illustrating a parking control method applied to a vertical parking space according to an embodiment of the present disclosure. May include the steps of:
201. and when the target parking space is detected, determining a target circular arc according to the position of the target parking space, the surrounding environment information of the vehicle and the minimum turning radius of the vehicle.
In this application embodiment, the detection of the vehicle to the target parking space and the surrounding environment information can be realized by an environment sensor installed on the vehicle. In some embodiments, the environmental sensor may include, but is not limited to, a camera and/or radar, etc. Further optionally, the camera may include, but is not limited to, a monocular camera and/or a binocular camera, and the radar may include, but is not limited to, one or a combination of multiple line laser radar, millimeter wave radar, and ultrasonic radar, which is not limited in this embodiment of the present application.
In some embodiments, the position of the target parking space may refer to a position of the target vehicle in a world coordinate system, and the position of the target parking space may be represented by a position of any point on the target parking space. The surrounding environment information of the vehicle may include images of surrounding vehicles and/or obstacles of the vehicle, and/or point cloud data corresponding to the surrounding vehicles and/or obstacles of the vehicle, which may be used to indicate an environmental condition around the vehicle. The minimum turning radius of the vehicle is related to the model of the vehicle, and refers to the radius of the track circle that the center plane of the outer steerable wheel rolls on the support plane when the vehicle is steered to run at the lowest stable vehicle speed with the steering wheel turned to the extreme position. For example, the minimum turning radius of a miniature vehicle is 4.5 meters, the minimum turning radius of a small vehicle is 6 meters, the minimum turning radius of a light vehicle is 6.5 meters, and the minimum turning radius of a medium vehicle is 9 meters, but the invention is not limited thereto.
In some embodiments, determining the target arc according to the position of the target parking space, the ambient environment information of the vehicle, and the minimum turning radius of the vehicle may include: determining a central point according to the position of the target parking space and the surrounding environment information of the vehicle; and determining a target circular arc according to the central point and the minimum turning radius of the vehicle. The first end point of the target circular arc is an end point far away from the target parking space, and the second end point of the target circular arc is located at the target parking space.
In the embodiment of the present application, the target arc may include, but is not limited to, any one of an 2/3 arc, a 1/3 arc, and a 1/4 arc, and the embodiment of the present application is not limited thereto. Illustratively, the target arc is an 1/4 arc (shown in FIG. 1) having a first end parallel to the horizontal and a second end parallel to the vertical.
Further, according to the position of the target parking space and the surrounding environment information of the vehicle, determining the central point may include: determining distance information between the target parking space and surrounding vehicles and/or obstacles according to the position of the target parking space and the surrounding environment information of the vehicle; determining a second end point of the target arc according to the distance information and a preset distance threshold; and determining the center point according to the second end point and the minimum turning radius.
Alternatively, all points in the target space having a vertical distance from the surrounding vehicle greater than or equal to the preset distance threshold may be determined, and the second endpoint is selected therefrom. For example, if the target arc indicates the driving track of the left wheel of the vehicle in the garage kneading operation stage, the second endpoint may select the corner closest to the upper left corner of the target parking space; if the target arc indicates the driving track of the right wheel of the vehicle in the garage kneading operation stage, the second endpoint can select the corner closest to the upper right corner point of the target parking space.
After the second end point is determined, a line segment parallel to the parking space line can be established by the second end point and the minimum turning radius, the length of the line segment is the minimum turning radius, and the other end of the line segment is the central point. The position of the central point relative to the target parking space can correspond to the direction of backing the vehicle, if the vehicle is poured into the target parking space from the right side of the target parking space, the central point is positioned on the right side of the target parking space, and if the vehicle is poured into the target parking space from the left side of the target parking space, the central point is positioned on the left side of the target parking space.
It should be noted that the preset distance threshold may represent a safe distance from the vehicle to its surrounding vehicles and obstacles, and may be 30 centimeters for example.
202. And determining an initial parking position on the target arc according to the first end point of the target arc and the current position of the vehicle, and determining an initial parking gesture corresponding to the initial parking position.
Wherein the current position of the vehicle can be represented by the position of any point on the vehicle. For example, the current position of the vehicle may indicate the position of the left front wheel of the vehicle. Similarly, if the current position of the vehicle indicates the position of the left front wheel, the initial parking position indicates the position of the left front wheel of the vehicle. The current position of the vehicle, the initial parking position, and the position of the target parking space may be represented by any one of a world coordinate system and a geodetic coordinate system, which is not limited herein.
In some embodiments, determining the initial parking location on the target arc based on the first end point of the target arc and the current location of the vehicle may include: and determining a second straight line according to the first end point and the current position of the vehicle, determining a third straight line which is perpendicular to the parking space line and passes through the first end point, acquiring a first included angle between the second straight line and the third straight line, and determining the initial parking position on the target circular arc according to the size of the first included angle.
In the embodiment of the present application, the first included angle may be an included angle formed by a current position of the vehicle, the first end point and the center point. Illustratively, as shown in fig. 2B, the first included angle may be an angle ψ in fig. 2B, which includes a first end point M, a current position N1 of the vehicle, a center point of the target circular arc being O, a second straight line MN1, and a third straight line OM in fig. 2B.
Further, determining an initial parking position on the target arc according to the size of the first included angle may include: when the first included angle is smaller than or equal to 90 degrees, determining an initial parking position according to a first distance between the first end point and the current position in the vertical direction and a second distance in the horizontal direction; and when the first included angle is larger than 90 degrees, determining the first end point as the initial parking position.
The initial parking gesture may refer to a body direction of the vehicle, and in some embodiments, the initial parking gesture corresponding to the initial parking position indicates the body direction of the vehicle, and is parallel to a tangent of the initial parking position on the target arc. For example, referring to FIG. 2C, the vehicle body direction is parallel to tangent line L1 when the vehicle is in the initial park position.
203. And determining a first driving track according to the initial parking position, the initial parking gesture and the current position, and controlling the vehicle to drive to the initial parking position according to the first driving track.
The first travel trajectory refers to a travel trajectory from a current position of the vehicle to an initial parking position on the target arc, and a body posture of the vehicle may be matched with the initial parking posture when the vehicle travels to the initial parking position according to the first travel trajectory.
In some embodiments, controlling the vehicle to travel to the initial parking location according to the first travel trajectory may include: and determining a corresponding first running operation according to the first running track, and executing the first running operation so that the vehicle runs from the current position to the initial parking position.
204. And when the vehicle is at the initial parking position, controlling the vehicle to perform the garage kneading operation along the target arc so as to park the vehicle into the target parking space.
It should be noted that, when the vehicle is located at the initial parking position, the vehicle body is tangent to the target arc, and based on this, the vehicle can directly drive into the target parking space along the target arc, and the attitude adjustment is not required, so that the parking efficiency can be further improved.
In the embodiment of the present application, controlling the vehicle to perform the library kneading operation along the target arc may include: and determining a corresponding second running operation according to the target arc, and executing the second running operation to enable the vehicle to carry out library kneading.
By implementing the method, before the parking operation is executed, the target arc is determined, then the vehicle is controlled to run from the current position to the initial parking position according to the first running track, and because the initial parking position is on the target arc and the second end point of the target arc is on the target parking space, the vehicle at the initial parking position can directly control the vehicle to carry out the garage kneading operation along the target arc so as to park the vehicle in the target parking space, and the garage kneading times are greatly reduced. Further, since the target arc is determined according to the minimum turning radius of the vehicle, the warehousing path when parking is shortest. Therefore, the parking mode is beneficial to improving the parking efficiency.
Referring to fig. 3A, fig. 3A is a schematic flowchart illustrating another parking control method applied to a vertical parking space according to an embodiment of the present disclosure. May include the steps of:
301. and when the target parking space is detected, determining a target circular arc according to the position of the target parking space, the surrounding environment information of the vehicle and the minimum turning radius of the vehicle.
For a detailed description of step 301, please refer to the description in step 201, which is not described herein again.
302. And determining a first straight line which passes through the first end point of the target circular arc and is parallel to the parking space line, and acquiring the relative position relation between the current position of the vehicle and the first straight line.
In this embodiment of the application, obtaining the relative position relationship between the current position of the vehicle and the first straight line may include that the vehicle is located on a first side of the first straight line, on the first straight line, or on a second side of the first straight line, where the first side is a side of the first straight line away from the target parking space, and the second side is a side of the first straight line close to the target parking space. For example, if the target parking space is located on the right side of the vehicle, the first side of the first straight line is the right side of the first straight line (see fig. 3B), and the second side is the left side of the first straight line. If the target parking space is located on the left side of the vehicle (see fig. 3C), the first side of the first straight line is the left side of the first straight line, and the second side of the first straight line is the right side of the first straight line.
303. And determining an initial parking position from the target arc according to the relative position relationship, and determining an initial parking gesture corresponding to the initial parking position.
In some embodiments, determining the initial parking position from the target arc according to the relative position relationship may include: if the relative position relation indicates that the vehicle is positioned on the first side of the first straight line or on the first straight line, determining that the first end point is the initial parking position; the first side is the side of the first straight line far away from the target parking space; and if the relative position relationship indicates that the vehicle is positioned on the second side of the first straight line, determining a first distance between the first end point and the current position in the vertical direction and a second distance in the horizontal direction, and determining an initial parking position on the target arc according to the first distance and the second distance.
In an embodiment of the present application, determining the initial parking position on the target arc according to the first distance and the second distance may include: and determining a second included angle according to the first distance information and the second distance, wherein the second included angle can indicate an included angle between a connecting line of a central point of the target arc and the first end point and a connecting line of the initial parking position and the central point of the target arc, and obtaining the initial parking position according to the second included angle.
The following describes, by way of example, the determination of the initial parking position on the target arc when the relative positional relationship indicates that the vehicle is on the second side of the first straight line:
for example, referring to fig. 3D, fig. 3D is a diagram of determining an initial parking position, where the diagram shown in fig. 3D refers to a situation where the target parking space is on the right side of the vehicle and the current position of the vehicle is on the right side of the first straight line, and the initial parking position is determined on the target arc. Referring to fig. 3D, the first distance is Y, the second distance is X, the current position is N2, the initial parking position is a point Q on the target arc, the center point of the target arc is O, the first end point of the target arc is M, the angle QOM is θ, and the minimum turning radius is R. It can be seen that the determination of the point Q of the initial parking position, i.e., the determination of the angle QOM.
Because:
The derivation of the formula for θ is further described below in conjunction with fig. 3D:
in the scenario indicated in fig. 3D, the vehicle needs to travel a circular arc, i.e. a third circular arc, from the current position to the initial parking position on the target circular arc, assuming that the radius of the circular arc is a third travel radius r, a third distance between the point Q and the current position in the vertical direction is y, and a fourth distance between the point Q and the current position in the horizontal direction is x. It can be understood that, in the case where the target circular arc is known, X, Y, R is known, x, y, r are unknown, and according to the triangle similarity and the collusion law, there are:
from the above equation, θ can be calculated.
Fig. 3E is a schematic view of a scene corresponding to fig. 3D, where L2 denotes a first travel track in fig. 3E.
By executing the steps 302 to 303, the relative position relationship between the current position of the vehicle and the first straight line can be quickly determined by determining the first straight line, and then the initial parking position can be efficiently determined from the target arc according to the relative position relationship, which is beneficial to improving the determination efficiency of the initial parking position.
304. And determining a first driving track according to the initial parking position, the initial parking gesture and the current position, and controlling the vehicle to drive to the initial parking position according to the first driving track.
In some embodiments, determining the first travel trajectory from the initial parking location, the initial parking gesture, and the current location may include: determining a preset condition according to the relative position relationship, wherein the preset condition is related to the minimum turning radius of the vehicle; determining a first distance between a first end point and the current position in the vertical direction and a second distance in the horizontal direction; when the first distance and the second distance meet a preset condition, determining a running radius according to the first distance and the second distance; and planning a first driving track according to the driving radius, the initial parking position, the initial parking gesture and the current position.
The preset conditions and the running radius are explained below by way of example:
example 1:
referring to fig. 3F, fig. 3F is a diagram illustrating the determination of the predetermined condition and the running radius. The illustration shown in fig. 3F indicates that the target space is on the right side of the vehicle and the current position of the vehicle is on the left side of or on the first line. It should be noted that, in this scenario, the vehicle includes two arcs from the current position to the initial parking position, which are a first arc and a second arc, respectively, and it is assumed that the first arc corresponds to the first running radius and the second arc corresponds to the second running radius.
As shown in the figure: the current position is N3, the first distance is Y, the second distance is X, the first running radius R and the second running radius kr, the first end point of the target circular arc is M, the minimum turning radius is R, when the target circular arc is known, X, Y, R and k are known, R is unknown, and the method comprises the following steps according to the law of collusion:
further, the first running radius r ═ X is obtained2+Y2) 2(k +1) X; second driving radius kr ═ X2+Y2) 2(k +1) Xk. Since r.gtoreq.R, (X)2+Y2) The/2 (k +1) X is more than or equal to R, namely when the target parking space is on the right side of the vehicle and the current position of the vehicle is on the left side of the first straight line or on the first straight line, the corresponding preset condition is (X)2+Y2) X is more than or equal to R in the ratio of/2 (k + 1). It should be noted that k may be a value greater than or equal to 1, or a value less than 1, and this embodiment of the present application is not limited.
It should be noted that, referring to fig. 3G (in a case where the target parking space is on the right side of the vehicle and the current position of the vehicle is on the left side of the first straight line) in the scene schematic diagram corresponding to fig. 3F, L3 in fig. 3G represents the first driving track.
Example 2:
referring to fig. 3B, in fig. 3B, another illustration of determining the preset condition and the running radius is shown, wherein the above equation for calculating θ can be further obtained: third travel radius corresponding to third arc
Because R is larger than or equal to R, when the target parking space is on the right side of the vehicle and the current position of the vehicle is on the left side of the first straight line or on the first straight line, corresponding preset conditions are metIs (X)2+Y2)/4X≥R。
305. And when the vehicle is at the initial parking position, controlling the vehicle to perform the garage kneading operation along the target arc so as to park the vehicle into the target parking space.
It should be noted that, regarding the introduction of step 305, please refer to the description of step 204 in fig. 2, which is not described herein again.
In some embodiments, if the first distance and the second distance do not satisfy the preset condition, it is determined that a first driving track does not exist between the initial parking position and the current position of the vehicle, and first prompt information is output, where the first prompt indicates that the vehicle cannot realize one-step parking operation. By implementing the method, the driver can adjust the parking control in time.
The following exemplifies a case where the first distance and the second distance do not satisfy the preset condition:
when the target parking space is on the right side of the vehicle, the current position of the vehicle is on the left side of the first straight line or on the first straight line, if the first distance and the second distance are substituted into the formula (X)2+Y2) And 2(k +1) X, and if the calculated value is less than R, the fact that the first driving track does not exist between the initial parking position and the current position of the vehicle is shown.
When the target parking space is on the right side of the vehicle and the current position of the vehicle is on the right side of the first straight line, if the first distance and the second distance are substituted into the formula (X)2+Y2) and/4X, if the calculated value is less than R, the fact that the first running track does not exist between the initial parking position and the current position of the vehicle is shown.
By implementing the method, before the parking operation is executed, the target arc is determined, then the vehicle is controlled to run from the current position to the initial parking position according to the first running track, and because the initial parking position is on the target arc and the second end point of the target arc is on the target parking space, the vehicle at the initial parking position can directly control the vehicle to carry out the garage kneading operation along the target arc so as to park the vehicle in the target parking space, and the garage kneading times are greatly reduced. Further, since the target arc is determined according to the minimum turning radius of the vehicle, the warehousing path when parking is shortest. Therefore, the parking mode is beneficial to improving the parking efficiency. Furthermore, the relative position relationship between the current position of the vehicle and the first straight line can be quickly obtained by determining the first straight line, and then the initial parking position can be efficiently determined from the target arc according to the relative position relationship, which is beneficial to improving the determination efficiency of the initial parking position.
Referring to fig. 4, fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure. The method can comprise the following steps: a first path planning unit 401, a first determination unit 402, and a control unit 403; wherein:
a first path planning unit 401, configured to determine, when a target parking space is detected, a target arc according to a position of the target parking space, ambient environment information of the vehicle, and a minimum turning radius of the vehicle;
a first determining unit 402, configured to determine, according to a first end point of the target arc and a current position of the vehicle, an initial parking position on the target arc, and determine an initial parking gesture corresponding to the initial parking position; the first end point is an end point far away from the target parking space, and the second end point of the target arc is located at the target parking space; determining a first driving track according to the initial parking position, the initial parking gesture and the current position;
and the control unit 403 is configured to control the vehicle to travel to the initial parking position according to the first travel track, and control the vehicle to perform a garage kneading operation along the target arc when the vehicle is at the initial parking position, so that the vehicle is parked in the target parking space.
In some embodiments, the manner that the first path planning unit 401 determines the target circular arc according to the position of the target parking space, the ambient environment information of the vehicle, and the minimum turning radius of the vehicle may specifically include: a first path planning unit 401, configured to determine a central point according to a position of a target parking space and surrounding environment information of a vehicle; determining a target circular arc according to the central point and the minimum turning radius of the vehicle; the target arc is 1/4 arc, the line connecting the first end point and the center point of the arc is parallel to the horizontal direction, and the line connecting the second end point and the center point of the arc is parallel to the vertical direction.
In some embodiments, the manner for determining the initial parking position on the target arc by the first determining unit 402 according to the first end point of the target arc and the current position of the vehicle may specifically include: a first determining unit 402, configured to determine a first straight line that passes through a first endpoint of the target arc and is parallel to the parking space line; acquiring the relative position relation between the current position of the vehicle and the first straight line; and determining the initial parking position from the target arc according to the relative position relation.
In some embodiments, the manner for determining the initial parking position from the target arc according to the relative position relationship by the first determining unit 402 may specifically include: a first determining unit 402, configured to determine a first endpoint as an initial parking position if the relative position relationship indicates that the vehicle is located on a first side of a first straight line or on the first straight line; the first side is the side of the first straight line far away from the target parking space; if the relative position relationship indicates that the vehicle is located on the second side of the first straight line, determining a first distance between the first end point and the current position in the vertical direction and a second distance in the horizontal direction, and determining an initial parking position on the target arc according to the first distance and the second distance; and the second side is one side of the first straight line close to the target parking space.
In some embodiments, the initial parking gesture corresponding to the initial parking position indicates a vehicle body direction of the vehicle that is parallel to a tangent of the initial parking position on the target arc.
In some embodiments, the manner in which the first determining unit 402 determines the first travel trajectory according to the initial parking position, the initial parking gesture, and the current position may include: determining a preset condition according to the relative position relationship, wherein the preset condition is related to the minimum turning radius of the vehicle; determining a first distance between a first end point and the current position in the vertical direction and a second distance in the horizontal direction; when the first distance and the second distance meet a preset condition, determining a running radius according to the first distance and the second distance; and planning a first driving track according to the driving radius, the initial parking position, the initial parking gesture and the current position.
In some embodiments, if the relative positional relationship indicates that the vehicle is on a first side of the first straight line or on the first straight line, the first travel track is composed of a first arc and a second arc, the radius of the first arc is a first travel radius, and the radius of the second arc is a second travel radius; the first side is the side, far away from the target parking space, of the first straight line, the second running radius is k times of the first running radius, and k is a value larger than or equal to 1; if the relative position relationship indicates that the vehicle is located on the second side of the first straight line, the first running track consists of a third arc, and the radius of the third arc is the third running radius; and the second side is one side of the first straight line close to the target parking space.
In some embodiments, the control unit 403 is further configured to determine that there is no first driving track between the initial parking location and the current location if the first distance and the second distance do not satisfy the preset condition, and output a first prompt message indicating that the vehicle cannot realize the one-step parking operation.
Referring to fig. 5, fig. 5 is a block diagram of an electronic device according to an embodiment of the present disclosure. The method can comprise the following steps:
a memory 501 in which executable program code is stored;
and a processor 502 to which the memory 501 is coupled;
the processor 502 calls the executable program code stored in the memory 501, and when the executable program code is executed by the processor 502, the processor 502 implements the parking control method applied to the vertical parking space described above.
The embodiment of the application discloses a computer readable storage medium, which stores a computer program, wherein the computer program realizes the method described in the above embodiment when being executed by a processor.
Embodiments of the present application disclose a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program, when executed by a processor, implements the method as described in the embodiments above.
The embodiment of the application discloses a vehicle, and the vehicle comprises the electronic equipment.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. The storage medium may be a magnetic disk, an optical disk, a ROM, etc.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (ssd)), among others.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (12)
1. A parking control method applied to a vertical parking space is characterized by comprising the following steps:
when a target parking space is detected, determining a target circular arc according to the position of the target parking space, the surrounding environment information of the vehicle and the minimum turning radius of the vehicle;
determining an initial parking position on the target arc according to the first end point of the target arc and the current position of the vehicle, and determining an initial parking gesture corresponding to the initial parking position; the first end point is an end point far away from the target parking space, and the second end point of the target arc is located at the target parking space;
determining a first driving track according to the initial parking position, the initial parking gesture and the current position, and controlling the vehicle to drive to the initial parking position according to the first driving track;
and when the vehicle is at the initial parking position, controlling the vehicle to perform a garage kneading operation along the target arc so as to park the vehicle into the target parking space.
2. The method of claim 1, wherein determining a target arc based on the location of the target slot, the ambient information of the vehicle, and the minimum turning radius of the vehicle comprises:
determining a central point according to the position of the target parking space and the surrounding environment information of the vehicle;
determining a target circular arc according to the central point and the minimum turning radius of the vehicle;
the target arc is 1/4 arc, a line connecting a first end point of the arc and the center point is parallel to the horizontal direction, and a line connecting a second end point of the arc and the center point is parallel to the vertical direction.
3. The method of claim 1 or 2, wherein determining an initial parking location on the target arc based on the first end point of the target arc and the current location of the vehicle comprises:
determining a first straight line which passes through a first end point of the target circular arc and is parallel to the parking space line;
acquiring a relative position relation between the current position of the vehicle and the first straight line;
and determining an initial parking position from the target arc according to the relative position relation.
4. The method of claim 3, wherein said determining an initial parking location from said target arc based on said relative positional relationship comprises:
if the relative position relationship indicates that the vehicle is located on a first side of the first straight line or on the first straight line, determining that the first end point is an initial parking position; the first side is the side, far away from the target parking space, of the first straight line;
if the relative position relationship indicates that the vehicle is located on the second side of the first straight line, determining a first distance between the first end point and the current position in the vertical direction and a second distance between the first end point and the current position in the horizontal direction, and determining an initial parking position on the target arc according to the first distance and the second distance; and the second side is one side of the first straight line close to the target parking space.
5. The method according to claim 1 or 2, wherein the body direction of the vehicle indicated by the initial parking gesture corresponding to the initial parking position is parallel to a tangent of the initial parking position on the target arc.
6. The method of claim 3, wherein determining a first travel trajectory based on the initial parking location, the initial parking gesture, and the current location comprises:
determining a preset condition according to the relative position relation, wherein the preset condition is related to the minimum turning radius of the vehicle;
determining a first distance between the first end point and the current position in the vertical direction and a second distance in the horizontal direction;
when the first distance and the second distance meet the preset condition, determining a running radius according to the first distance and the second distance;
and planning the first driving track according to the driving radius, the initial parking position, the initial parking gesture and the current position.
7. The method according to claim 6, characterized in that if the relative positional relationship indicates that the vehicle is on a first side of the first straight line or on the first straight line, the first travel locus is composed of a first circular arc having a radius of a first travel radius and a second circular arc having a radius of a second travel radius; wherein the first side is a side of the first straight line away from the target parking space, the second driving radius is k times the first driving radius, and k is a value greater than or equal to 1;
if the relative position relationship indicates that the vehicle is located on a second side of the first straight line, the first travel track is composed of a third arc, and the radius of the third arc is a third travel radius; and the second side is one side of the first straight line close to the target parking space.
8. The method of claim 6, further comprising:
and if the first distance and the second distance do not meet the preset condition, determining that a first driving track does not exist between the initial parking position and the current position, and outputting first prompt information, wherein the first prompt indicates that the vehicle cannot realize one-step parking operation.
9. An electronic device, comprising:
the system comprises a first path planning unit, a second path planning unit and a third path planning unit, wherein the first path planning unit is used for determining a target circular arc according to the position of a target parking space, the surrounding environment information of a vehicle and the minimum turning radius of the vehicle when the target parking space is detected;
the first determining unit is used for determining an initial parking position on the target circular arc according to a first end point of the target circular arc and the current position of the vehicle, and determining an initial parking gesture corresponding to the initial parking position; the first end point is an end point far away from the target parking space, and the second end point of the target arc is located at the target parking space; determining a first driving track according to the initial parking position, the initial parking gesture and the current position;
and the control unit is used for controlling the vehicle to run to the initial parking position according to the first running track, and controlling the vehicle to perform a garage kneading operation along the target arc when the vehicle is at the initial parking position so as to enable the vehicle to park in the target parking space.
10. An electronic device, comprising:
a memory storing executable program code;
and a processor coupled to the memory;
the processor calls the executable program code stored in the memory, which when executed by the processor causes the processor to implement the method of any one of claims 1-8.
11. A computer-readable storage medium having executable program code stored thereon, wherein the executable program code, when executed by a processor, implements the method of any of claims 1-8.
12. A vehicle characterized in that it comprises an electronic device according to claim 9 or 10.
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| CN202110991611.7A CN113548041B (en) | 2021-08-26 | 2021-08-26 | Parking control method applied to vertical parking space, electronic equipment and vehicle |
| PCT/CN2022/082959 WO2023024503A1 (en) | 2021-08-26 | 2022-03-25 | Parking control method applied to perpendicular parking space, electronic device, vehicle and storage medium |
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| CN202110991611.7A CN113548041B (en) | 2021-08-26 | 2021-08-26 | Parking control method applied to vertical parking space, electronic equipment and vehicle |
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| CN115214630A (en) * | 2022-07-25 | 2022-10-21 | 广州汽车集团股份有限公司 | Automatic parking method and system for corner parking spaces and vehicle |
| WO2023024503A1 (en) * | 2021-08-26 | 2023-03-02 | 广州小鹏自动驾驶科技有限公司 | Parking control method applied to perpendicular parking space, electronic device, vehicle and storage medium |
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| CN113548041B (en) | 2022-12-13 |
| WO2023024503A1 (en) | 2023-03-02 |
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